My name is Zifan Wang. I am a postgraduate student at The Hong Kong University of Science and Technology (HKUST), Guangzhou Campus.

My primary research focus is on legged robots, including quadrupeds, humanoids, and wheeled-legged robots. I work on optimal control, reinforcement learning, and loco-manipulation.

If you have any interesting projects related to legged robots, please contact me! I am very eager to collaborate on creating intelligent robots.

     Robotics Researcher
    Research focus on Legged Robots
Publications at IROS, CoRL, CVPR
Optimal control & Reinforcement Learning

  

     Full-Stack Roboticist
    Software: Python, C/C++, ROS/ROS2
Hardware: STM32, Jetson
Design: SolidWorks, Altium Designer

  

     Academic Service
    Reviewer for RAL, IROS
Reviewer for CoRL, ICCV
Reviewer for Humanoids

  

News

2025: One paper accepted by CoRL 2025 on omnidirectional collision avoidance for legged locomotion.
2025: One paper accepted by IROS 2025 on preference aligned diffusion planner for quadrupedal locomotion.
2025: One paper accepted by IROS 2025 on efficient robot simulation (DISCOVERSE).
2025: One paper accepted by CVPR 2025 on mitigating human-robot domain discrepancy.

Publications

Loco-Manipulation

Legged Robots Manipulation: A Loco-Manipulation Framework for (Wheel-)Legged Robots

Zifan Wang, et al.

IROS 2024

Code

Genesis Frameworks for Legged Robots

Zifan Wang, et al.

Open Source

Code

Awesome Loco-Manipulation: A Curated List

Zifan Wang

Open Source

Code

Locomotion

Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments

Zifan Wang, et al.

CoRL 2025

Project Page Code

Preference Aligned Diffusion Planner for Quadrupedal Locomotion Control

Shangja Ven, Zifan Wang, et al.

IROS 2025

Project Page

MIP-MPC Framework for Wheeled-Legged Robot Working on Tough Terrain

Zifan Wang, et al.

ARTS 2023 Poster

Imitation Learning

GLOVER: Generalizable Open-Vocabulary Affordance Reasoning for Task-Oriented Grasping

Teli Ma, Zifan Wang, et al.

Under Review

Project Page

DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments

AIR Lab, Zifan Wang, et al.

IROS 2025

Project Page

Contrastive Imitation Learning for Language-guided Multi-Task Robotic Manipulation

Teli Ma, Zifan Wang, et al.

CoRL 2024

Project Page

Mitigating the Human-Robot Domain Discrepancy in Visual Pre-training for Robotic Manipulation

Jiaming Zhou, Zifan Wang, et al.

CVPR 2025

Project Page

Educations

2024 - Present: Postgraduate Student at The Hong Kong University of Science and Technology (Guangzhou). Research focus on legged robots, optimal control, and reinforcement learning.

Experience

Contact: [email protected] / [email protected]